This article aims to recognize and dialogue with the production of knowledge, practices and, in particular, with undergraduate teaching in occupational therapy in territorial and community contexts, through the systematic mapping of articles, dissertations and theses published between 2012 and 2022. Bibliographic search was carried out in November 2022, through the SciELO virtual library, the Brazilian Digital Library of Theses and Dissertations (BDTD), the Brazilian Institute of Information in Science and Technology (IBICT) and the databases: Web of Science, Scopus and Latin American and Caribbean Literature in Health Sciences (LILACS). 40 productions were eligible, of those, 29 articles and 11 dissertations/theses. The results were analyzed based on thematic analysis, whose topics were: What is territorial and community teaching? Where does it occur? What pedagogical strategies? Who teaches? What challenges do you face? What are the guiding concepts? The results point to interdisciplinary, interprofessional, collaborative teaching with important attributes such as the teaching-learning-assistance process in the territory and in territorial services, including actors such as students, professionals, teams and the community, in addition to the teacher who proposes, articulates and mediates of this teaching. We conclude that the mapping presents a general overview of this teaching, highlighting encounters between theories and practices, from different sub-areas of occupational therapy, which, in addition to teaching, propose actions to transform educational, social, cultural and health conditions. However, we noticed that there are gaps in the literature in the area that explain how the concepts are linked to this training, producing specific reflections on the profession in different sub-areas.